<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: surface/include/pcl/surface/bilateral_upsampling.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('bilateral__upsampling_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">bilateral_upsampling.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *   from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_BILATERAL_UPSAMPLING_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SURFACE_BILATERAL_UPSAMPLING_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/processing.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html">   63</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_bilateral_upsampling.html">BilateralUpsampling</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_cloud_surface_processing.html">CloudSurfaceProcessing</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;BilateralUpsampling&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const BilateralUpsampling&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::indices_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_cloud_surface_processing.html">CloudSurfaceProcessing&lt;PointInT, PointOutT&gt;::process</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      Eigen::Matrix3f KinectVGAProjectionMatrix, KinectSXGAProjectionMatrix;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#a73c65ef7f80b7e63797df397c34a49ff">   80</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a73c65ef7f80b7e63797df397c34a49ff">BilateralUpsampling</a> () </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        : KinectVGAProjectionMatrix ()</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        , KinectSXGAProjectionMatrix ()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        , window_size_ (5)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        , sigma_color_ (15.0f)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        , sigma_depth_ (0.5f)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        , projection_matrix_ ()</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        , unprojection_matrix_ ()</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        KinectVGAProjectionMatrix &lt;&lt; 525.0f, 0.0f, 320.0f,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                                     0.0f, 525.0f, 240.0f,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                     0.0f, 0.0f, 1.0f;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        KinectSXGAProjectionMatrix &lt;&lt; 1050.0f, 0.0f, 640.0f,</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                                      0.0f, 1050.0f, 480.0f,</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                                      0.0f, 0.0f, 1.0f;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      };</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#acd0eae8cf27d0f32d3d78649690ba897">  101</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#acd0eae8cf27d0f32d3d78649690ba897">setWindowSize</a> (<span class="keywordtype">int</span> window_size) { window_size_ = window_size; }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#afd7c27e23f6837eec417c1d6238773d4">  105</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#afd7c27e23f6837eec417c1d6238773d4">getWindowSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (window_size_); }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#ad4f7695ba231d9ea5ff7778a653166dc">  111</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#ad4f7695ba231d9ea5ff7778a653166dc">setSigmaColor</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> &amp;sigma_color) { sigma_color_ = sigma_color; }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#a77957460468ef7c36f7bf4a73e8acad6">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a77957460468ef7c36f7bf4a73e8acad6">getSigmaColor</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (sigma_color_); }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#ac92d07884010ec8e7c618587251e464c">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#ac92d07884010ec8e7c618587251e464c">setSigmaDepth</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> &amp;sigma_depth) { sigma_depth_ = sigma_depth; }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#a1430bd487587488968ef808cf69693e5">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a1430bd487587488968ef808cf69693e5">getSigmaDepth</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (sigma_depth_); }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#a349a7e997fba0920915560f025d4c2f1">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a349a7e997fba0920915560f025d4c2f1">setProjectionMatrix</a> (<span class="keyword">const</span> Eigen::Matrix3f &amp;projection_matrix) { projection_matrix_ = projection_matrix; }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keyword">inline</span> Eigen::Matrix3f</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#a407617669e5ba19bf15981e2a02ced4e">  137</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a407617669e5ba19bf15981e2a02ced4e">getProjectionMatrix</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (projection_matrix_); }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#ab6dfd35673c9e2dec504138ead4a01d9">process</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#ab7f192b2de2a6a681b529705baf5f28f">performProcessing</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a1891188e162146676f2ad1f98a02d012">computeDistances</a> (Eigen::MatrixXf &amp;val_exp_depth, Eigen::VectorXf &amp;val_exp_rgb);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordtype">int</span> window_size_;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordtype">float</span> sigma_color_, sigma_depth_;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      Eigen::Matrix3f projection_matrix_, unprojection_matrix_;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  };</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;}</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_SURFACE_BILATERAL_UPSAMPLING_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html">pcl::BilateralUpsampling</a></div><div class="ttdoc">Bilateral filtering implementation, based on the following paper:</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a1430bd487587488968ef808cf69693e5"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a1430bd487587488968ef808cf69693e5">pcl::BilateralUpsampling::getSigmaDepth</a></div><div class="ttdeci">float getSigmaDepth() const</div><div class="ttdoc">Returns the current sigma depth value</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a1891188e162146676f2ad1f98a02d012"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a1891188e162146676f2ad1f98a02d012">pcl::BilateralUpsampling::computeDistances</a></div><div class="ttdeci">void computeDistances(Eigen::MatrixXf &amp;val_exp_depth, Eigen::VectorXf &amp;val_exp_rgb)</div><div class="ttdoc">Computes the distance for depth and RGB.</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.hpp:156</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a349a7e997fba0920915560f025d4c2f1"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a349a7e997fba0920915560f025d4c2f1">pcl::BilateralUpsampling::setProjectionMatrix</a></div><div class="ttdeci">void setProjectionMatrix(const Eigen::Matrix3f &amp;projection_matrix)</div><div class="ttdoc">Method that sets the projection matrix to be used when unprojecting the points in the depth image bac...</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a407617669e5ba19bf15981e2a02ced4e"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a407617669e5ba19bf15981e2a02ced4e">pcl::BilateralUpsampling::getProjectionMatrix</a></div><div class="ttdeci">Eigen::Matrix3f getProjectionMatrix() const</div><div class="ttdoc">Returns the current projection matrix</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a73c65ef7f80b7e63797df397c34a49ff"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a73c65ef7f80b7e63797df397c34a49ff">pcl::BilateralUpsampling::BilateralUpsampling</a></div><div class="ttdeci">BilateralUpsampling()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:80</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a77957460468ef7c36f7bf4a73e8acad6"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a77957460468ef7c36f7bf4a73e8acad6">pcl::BilateralUpsampling::getSigmaColor</a></div><div class="ttdeci">float getSigmaColor() const</div><div class="ttdoc">Returns the current sigma color value</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_ab6dfd35673c9e2dec504138ead4a01d9"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#ab6dfd35673c9e2dec504138ead4a01d9">pcl::BilateralUpsampling::process</a></div><div class="ttdeci">void process(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Method that does the actual processing on the input cloud.</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_ab7f192b2de2a6a681b529705baf5f28f"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#ab7f192b2de2a6a681b529705baf5f28f">pcl::BilateralUpsampling::performProcessing</a></div><div class="ttdeci">void performProcessing(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Abstract cloud processing method</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.hpp:86</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_ac92d07884010ec8e7c618587251e464c"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#ac92d07884010ec8e7c618587251e464c">pcl::BilateralUpsampling::setSigmaDepth</a></div><div class="ttdeci">void setSigmaDepth(const float &amp;sigma_depth)</div><div class="ttdoc">Method that sets the sigma depth parameter</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_acd0eae8cf27d0f32d3d78649690ba897"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#acd0eae8cf27d0f32d3d78649690ba897">pcl::BilateralUpsampling::setWindowSize</a></div><div class="ttdeci">void setWindowSize(int window_size)</div><div class="ttdoc">Method that sets the window size for the filter</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_ad4f7695ba231d9ea5ff7778a653166dc"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#ad4f7695ba231d9ea5ff7778a653166dc">pcl::BilateralUpsampling::setSigmaColor</a></div><div class="ttdeci">void setSigmaColor(const float &amp;sigma_color)</div><div class="ttdoc">Method that sets the sigma color parameter</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_afd7c27e23f6837eec417c1d6238773d4"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#afd7c27e23f6837eec417c1d6238773d4">pcl::BilateralUpsampling::getWindowSize</a></div><div class="ttdeci">int getWindowSize() const</div><div class="ttdoc">Returns the filter window size</div><div class="ttdef"><b>Definition:</b> bilateral_upsampling.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_cloud_surface_processing_html"><div class="ttname"><a href="classpcl_1_1_cloud_surface_processing.html">pcl::CloudSurfaceProcessing</a></div><div class="ttdoc">CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...</div><div class="ttdef"><b>Definition:</b> processing.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_3eca864c65823895cb378d0a822acbce.html">surface</a></li><li class="navelem"><a class="el" href="dir_3f3c04b1471cb7c6ed159d82d5dbd2e2.html">include</a></li><li class="navelem"><a class="el" href="dir_c085629c2ec3cefd048e595d13476517.html">pcl</a></li><li class="navelem"><a class="el" href="dir_b042217bdec4068b97400d7bbc365877.html">surface</a></li><li class="navelem"><b>bilateral_upsampling.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
